Biorobotics Project / Mbed OS Servocontrol_project

Servo position controlled by potvalue

Dependencies:   Servo

main.cpp@0:fe46ce7f03d3, 2017-10-02 (annotated)

Committer:
MMartens
Date:
Mon Oct 02 12:56:23 2017 +0000
Revision:
0:fe46ce7f03d3
Child:
1:34cea73289c4
Program for controlling the speed and position of the servo motor

Who changed what in which revision?

UserRevisionLine numberNew contents of line
MMartens 0:fe46ce7f03d3 1 /* This code controls the main functions of the servomotor. The servomotor needs an external power of 6 or 12 V and is connected to the PWMOut pin
MMartens 0:fe46ce7f03d3 2 External power can be either 4*1.5V AA batteries (6V), 8*1.5V AA batteries (12V) or an appropiate DC voltage source. It is important that ground of both the servo motor and mBed platform are the same.
MMartens 0:fe46ce7f03d3 3 Servo motor speed can be controlled by an external signal such as a potnetiometer or in context of this project an EMG signal.
MMartens 0:fe46ce7f03d3 4 */
MMartens 0:fe46ce7f03d3 5
MMartens 0:fe46ce7f03d3 6 #include <mbed.h>
MMartens 0:fe46ce7f03d3 7 //#include <Servo.h> either one can be used, but not both at the same time
MMartens 0:fe46ce7f03d3 8 #include <VarSpeedServo.h>
MMartens 0:fe46ce7f03d3 9
MMartens 0:fe46ce7f03d3 10 Servo myservo(p21);
MMartens 0:fe46ce7f03d3 11 Serial pc(USBTX, USBRX);
MMartens 0:fe46ce7f03d3 12
MMartens 0:fe46ce7f03d3 13 int main() {
MMartens 0:fe46ce7f03d3 14 printf("Servo Calibration Controls:\n");
MMartens 0:fe46ce7f03d3 15 printf("1,2,3 - Position Servo (full left, middle, full right)\n");
MMartens 0:fe46ce7f03d3 16 printf("4,5 - Decrease or Increase range\n");
MMartens 0:fe46ce7f03d3 17
MMartens 0:fe46ce7f03d3 18 float range = 0.0005;
MMartens 0:fe46ce7f03d3 19 float position = 0.5;
MMartens 0:fe46ce7f03d3 20
MMartens 0:fe46ce7f03d3 21 while(1) {
MMartens 0:fe46ce7f03d3 22 switch(pc.getc()) { // Switch to change position or increase range
MMartens 0:fe46ce7f03d3 23 case '1': position = 0.0; break;
MMartens 0:fe46ce7f03d3 24 case '2': position = 0.5; break;
MMartens 0:fe46ce7f03d3 25 case '3': position = 1.0; break;
MMartens 0:fe46ce7f03d3 26 case '4': range += 0.0001; break;
MMartens 0:fe46ce7f03d3 27 case '5': range -= 0.0001; break;
MMartens 0:fe46ce7f03d3 28 }
MMartens 0:fe46ce7f03d3 29 printf("position = %.1f, range = +/-%0.4f\n", position, range);
MMartens 0:fe46ce7f03d3 30 myservo.calibrate(range, 45.0);
MMartens 0:fe46ce7f03d3 31 myservo = position;
MMartens 0:fe46ce7f03d3 32 }
MMartens 0:fe46ce7f03d3 33 }
MMartens 0:fe46ce7f03d3 34
MMartens 0:fe46ce7f03d3 35 /* Example code to control the servomotor by a potentiometer, similarly one could control the speed of the servomotor.
MMartens 0:fe46ce7f03d3 36 The speed can be controlled by using the library VarSpeedServo.h
MMartens 0:fe46ce7f03d3 37 By mapping the intensity of EMG signal to a range of values (e.g. 0:1:100) you can easily control the speed and position of the motor
MMartens 0:fe46ce7f03d3 38 */
MMartens 0:fe46ce7f03d3 39
MMartens 0:fe46ce7f03d3 40 /*
MMartens 0:fe46ce7f03d3 41 Servo servo_test; //initialize a servo object for the connected servo
MMartens 0:fe46ce7f03d3 42
MMartens 0:fe46ce7f03d3 43 int angle = 0;
MMartens 0:fe46ce7f03d3 44 int potentio = A0; // initialize the A0analog pin for potentiometer
MMartens 0:fe46ce7f03d3 45
MMartens 0:fe46ce7f03d3 46
MMartens 0:fe46ce7f03d3 47 void setup()
MMartens 0:fe46ce7f03d3 48 {
MMartens 0:fe46ce7f03d3 49 servo_test.attach(9); // attach the signal pin of servo to pin9 of arduino
MMartens 0:fe46ce7f03d3 50 }
MMartens 0:fe46ce7f03d3 51
MMartens 0:fe46ce7f03d3 52 void loop()
MMartens 0:fe46ce7f03d3 53 {
MMartens 0:fe46ce7f03d3 54 angle = analogRead(potentio); // reading the potentiometer value between 0 and 1023
MMartens 0:fe46ce7f03d3 55 angle = map(angle, 0, 1023, 0, 179); // scaling the potentiometer value to angle value for servo between 0 and 180)
MMartens 0:fe46ce7f03d3 56 servo_test.write(angle); //command to rotate the servo to the specified angle
MMartens 0:fe46ce7f03d3 57 delay(5);
MMartens 0:fe46ce7f03d3 58 }
MMartens 0:fe46ce7f03d3 59 */
MMartens 0:fe46ce7f03d3 60